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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*********************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Software License Agreement (BSD License)</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">*  Copyright (c) 2008, Willow Garage, Inc.</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">*  All rights reserved.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*  Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">*  modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">*  are met:</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">*   * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*     notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">*   * Redistributions in binary form must reproduce the above</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">*     copyright notice, this list of conditions and the following</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">*     disclaimer in the documentation and/or other materials provided</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">*     with the distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">*   * Neither the name of the Willow Garage nor the names of its</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">*     contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">*     from this software without specific prior written permission.</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">*********************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef M_PI</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define M_PI 3.1415926</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceangles.html">angles</a> {</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> from_degrees(<span class="keywordtype">double</span> degrees) {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">return</span> degrees * M_PI / 180.0;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> to_degrees(<span class="keywordtype">double</span> radians) {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">return</span> radians * 180.0 / M_PI;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> normalize_angle_positive(<span class="keywordtype">double</span> angle) {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">return</span> fmod(fmod(angle, 2.0 * M_PI) + 2.0 * M_PI, 2.0 * M_PI);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> normalize_angle(<span class="keywordtype">double</span> angle) {</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordtype">double</span> a = normalize_angle_positive(angle);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keywordflow">if</span> (a &gt; M_PI) {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    a -= 2.0 * M_PI;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">return</span> a;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> shortest_angular_distance(<span class="keywordtype">double</span> from, <span class="keywordtype">double</span> to) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">return</span> normalize_angle(to - from);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">double</span> two_pi_complement(<span class="keywordtype">double</span> angle) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">//check input conditions</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (angle &gt; 2 * M_PI || angle &lt; -2.0 * M_PI) {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    angle = fmod(angle, 2.0 * M_PI);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> (angle &lt; 0) {</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">return</span> (2 * M_PI + angle);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (angle &gt; 0) {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">return</span> (-2 * M_PI + angle);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  }</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">return</span> (2 * M_PI);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">static</span> <span class="keywordtype">bool</span> find_min_max_delta(<span class="keywordtype">double</span> from, <span class="keywordtype">double</span> left_limit,</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                               <span class="keywordtype">double</span> right_limit, <span class="keywordtype">double</span> &amp;result_min_delta, <span class="keywordtype">double</span> &amp;result_max_delta) {</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordtype">double</span> delta[4];</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  delta[0] = shortest_angular_distance(from, left_limit);</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  delta[1] = shortest_angular_distance(from, right_limit);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  delta[2] = two_pi_complement(delta[0]);</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  delta[3] = two_pi_complement(delta[1]);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">if</span> (fabs(delta[0]) &lt; 1e-6) {</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    result_min_delta = delta[0];</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    result_max_delta = std::max&lt;double&gt;(delta[1], delta[3]);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  }</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">if</span> (fabs(delta[1]) &lt; 1e-6) {</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    result_max_delta = delta[1];</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    result_min_delta = std::min&lt;double&gt;(delta[0], delta[2]);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordtype">double</span> delta_min = delta[0];</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordtype">double</span> delta_min_2pi = delta[2];</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (delta[2] &lt; delta_min) {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    delta_min = delta[2];</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    delta_min_2pi = delta[0];</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordtype">double</span> delta_max = delta[1];</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordtype">double</span> delta_max_2pi = delta[3];</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordflow">if</span> (delta[3] &gt; delta_max) {</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    delta_max = delta[3];</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    delta_max_2pi = delta[1];</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">//    printf(&quot;%f %f %f %f\n&quot;,delta_min,delta_min_2pi,delta_max,delta_max_2pi);</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">if</span> ((delta_min &lt;= delta_max_2pi) || (delta_max &gt;= delta_min_2pi)) {</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    result_min_delta = delta_max_2pi;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    result_max_delta = delta_min_2pi;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">if</span> (left_limit == -M_PI &amp;&amp; right_limit == M_PI) {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  result_min_delta = delta_min;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  result_max_delta = delta_max;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> shortest_angular_distance_with_limits(<span class="keywordtype">double</span> from, <span class="keywordtype">double</span> to,</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">double</span> left_limit, <span class="keywordtype">double</span> right_limit, <span class="keywordtype">double</span> &amp;shortest_angle) {</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordtype">double</span> min_delta = -2 * M_PI;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="keywordtype">double</span> max_delta = 2 * M_PI;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordtype">double</span> min_delta_to = -2 * M_PI;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="keywordtype">double</span> max_delta_to = 2 * M_PI;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keywordtype">bool</span> flag    = find_min_max_delta(from, left_limit, right_limit, min_delta,</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;                                    max_delta);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordtype">double</span> delta = shortest_angular_distance(from, to);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <span class="keywordtype">double</span> delta_mod_2pi  = two_pi_complement(delta);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">if</span> (flag) { <span class="comment">//from position is within the limits</span></div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">if</span> (delta &gt;= min_delta &amp;&amp; delta &lt;= max_delta) {</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      shortest_angle = delta;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (delta_mod_2pi &gt;= min_delta &amp;&amp; delta_mod_2pi &lt;= max_delta) {</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      shortest_angle = delta_mod_2pi;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    } <span class="keywordflow">else</span> { <span class="comment">//to position is outside the limits</span></div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      find_min_max_delta(to, left_limit, right_limit, min_delta_to, max_delta_to);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordflow">if</span> (fabs(min_delta_to) &lt; fabs(max_delta_to)) {</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        shortest_angle = std::max&lt;double&gt;(delta, delta_mod_2pi);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fabs(min_delta_to) &gt; fabs(max_delta_to)) {</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        shortest_angle =  std::min&lt;double&gt;(delta, delta_mod_2pi);</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">if</span> (fabs(delta) &lt; fabs(delta_mod_2pi)) {</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          shortest_angle = delta;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          shortest_angle = delta_mod_2pi;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        }</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      }</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  } <span class="keywordflow">else</span> { <span class="comment">// from position is outside the limits</span></div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    find_min_max_delta(to, left_limit, right_limit, min_delta_to, max_delta_to);</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">if</span> (fabs(min_delta) &lt; fabs(max_delta)) {</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      shortest_angle = std::min&lt;double&gt;(delta, delta_mod_2pi);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fabs(min_delta) &gt; fabs(max_delta)) {</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      shortest_angle =  std::max&lt;double&gt;(delta, delta_mod_2pi);</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordflow">if</span> (fabs(delta) &lt; fabs(delta_mod_2pi)) {</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        shortest_angle = delta;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        shortest_angle = delta_mod_2pi;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      }</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  }</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  shortest_angle = delta;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;}</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}<span class="comment">// namespace angles</span></div><div class="ttc" id="namespaceangles_html"><div class="ttname"><a href="namespaceangles.html">angles</a></div><div class="ttdef"><b>Definition:</b> angles.h:42</div></div>
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